Expand description
Robot dynamics.
Re-exports§
pub use config::DynamicsConfig;pub use config::ForwardDynamicsMethod;
Modules§
- config
- Dynamics configuration (gravity and defaults).
- crba
- Composite rigid body algorithm (mass matrix via inverse dynamics identity).
- fd
- Forward dynamics (ABA default, CRBA+LU fallback).
- id
- Inverse dynamics aliases and partial torques.
- rnea
- Recursive Newton-Euler algorithm (serial chains).
- spatial
- Spatial inertia and joint motion subspaces.
- tree
- Tree dynamics (branch-routed RNEA / mass matrix / forward dynamics).